robot-3dlotus

Towards Generalizable Vision-Language Robotic Manipulation: A Benchmark and LLM-guided 3D Policy is a research project focusing on addressing the challenge of generalizing language-conditioned robotic policies to new tasks. The project introduces GemBench, a benchmark to evaluate the generalization capabilities of vision-language robotic manipulation policies. It also presents the 3D-LOTUS approach, which leverages rich 3D information for action prediction conditioned on language. Additionally, the project introduces 3D-LOTUS++, a framework that integrates 3D-LOTUS's motion planning capabilities with the task planning capabilities of LLMs and the object grounding accuracy of VLMs to achieve state-of-the-art performance on novel tasks in robotic manipulation.

This repository contains the training and inference code needed to replicate the winning solution to the AI Mathematical Olympiad - Progress Prize 1. It consists of fine-tuning DeepSeekMath-Base 7B, high-quality training datasets, a self-consistency decoding algorithm, and carefully chosen validation sets. The training methodology involves Chain of Thought (CoT) and Tool Integrated Reasoning (TIR) training stages. Two datasets, NuminaMath-CoT and NuminaMath-TIR, were used to fine-tune the models. The models were trained using open-source libraries like TRL, PyTorch, vLLM, and DeepSpeed. Post-training quantization to 8-bit precision was done to improve performance on Kaggle's T4 GPUs. The project structure includes scripts for training, quantization, and inference, along with necessary installation instructions and hardware/software specifications.

Vision-LLM-Alignment is a repository focused on implementing alignment training for visual large language models (LLMs), including SFT training, reward model training, and PPO/DPO training. It supports various model architectures and provides datasets for training. The repository also offers benchmark results and installation instructions for users.

NineRec is a benchmark dataset suite for evaluating transferable recommendation models. It provides datasets for pre-training and transfer learning in recommender systems, focusing on multimodal and foundation model tasks. The dataset includes user-item interactions, item texts in multiple languages, item URLs, and raw images. Researchers can use NineRec to develop more effective and efficient methods for pre-training recommendation models beyond end-to-end training. The dataset is accompanied by code for dataset preparation, training, and testing in PyTorch environment.

MachinaScript For Robots is a dynamic set of tools and a LLM-JSON-based language designed to empower humans in the creation of their own robots. It facilitates the animation of generative movements, the integration of personality, and the teaching of new skills with a high degree of autonomy. With MachinaScript, users can control a wide range of electronic components, including Arduinos, Raspberry Pis, servo motors, cameras, sensors, and more. The tool enables the creation of intelligent robots accessible to everyone, allowing for complex tasks to be performed with elegance and precision.

This repository contains the code for HOLD, a method that jointly reconstructs hands and objects from monocular videos without assuming a pre-scanned object template. It can reconstruct 3D geometries of novel objects and hands, enabling template-free bimanual hand-object reconstruction, textureless object interaction with hands, and multiple objects interaction with hands. The repository provides instructions to download in-the-wild videos from HOLD, preprocess and train on custom videos, a volumetric rendering framework, a generalized codebase for single and two hand interaction with objects, a viewer to interact with predictions, and code to evaluate and compare with HOLD in HO3D. The repository also includes documentation for setup, training, evaluation, visualization, preprocessing custom sequences, and using HOLD on ARCTIC.

DemoGPT is an all-in-one agent library that provides tools, prompts, frameworks, and LLM models for streamlined agent development. It leverages GPT-3.5-turbo to generate LangChain code, creating interactive Streamlit applications. The tool is designed for creating intelligent, interactive, and inclusive solutions in LLM-based application development. It offers model flexibility, iterative development, and a commitment to user engagement. Future enhancements include integrating Gorilla for autonomous API usage and adding a publicly available database for refining the generation process.

Deepfabric is an SDK and CLI tool that leverages large language models to generate high-quality synthetic datasets. It's designed for researchers and developers building teacher-student distillation pipelines, creating evaluation benchmarks for models and agents, or conducting research requiring diverse training data. The key innovation lies in Deepfabric's graph and tree-based architecture, which uses structured topic nodes as generation seeds. This approach ensures the creation of datasets that are both highly diverse and domain-specific, while minimizing redundancy and duplication across generated samples.

OREAL is a reinforcement learning framework designed for mathematical reasoning tasks, aiming to achieve optimal performance through outcome reward-based learning. The framework utilizes behavior cloning, reshaping rewards, and token-level reward models to address challenges in sparse rewards and partial correctness. OREAL has achieved significant results, with a 7B model reaching 94.0 pass@1 accuracy on MATH-500 and surpassing previous 32B models. The tool provides training tutorials and Hugging Face model repositories for easy access and implementation.

This repository, MMC, focuses on advancing multimodal chart understanding through large-scale instruction tuning. It introduces a dataset supporting various tasks and chart types, a benchmark for evaluating reasoning capabilities over charts, and an assistant achieving state-of-the-art performance on chart QA benchmarks. The repository provides data for chart-text alignment, benchmarking, and instruction tuning, along with existing datasets used in experiments. Additionally, it offers a Gradio demo for the MMCA model.

Pixel Reasoner is a framework that introduces reasoning in the pixel-space for Vision-Language Models (VLMs), enabling them to directly inspect, interrogate, and infer from visual evidences. This enhances reasoning fidelity for visual tasks by equipping VLMs with visual reasoning operations like zoom-in and select-frame. The framework addresses challenges like model's imbalanced competence and reluctance to adopt pixel-space operations through a two-phase training approach involving instruction tuning and curiosity-driven reinforcement learning. With these visual operations, VLMs can interact with complex visual inputs such as images or videos to gather necessary information, leading to improved performance across visual reasoning benchmarks.

Codellm-devkit (CLDK) is a Python library that serves as a multilingual program analysis framework bridging traditional static analysis tools and Large Language Models (LLMs) specialized for code (CodeLLMs). It simplifies the process of analyzing codebases across multiple programming languages, enabling the extraction of meaningful insights and facilitating LLM-based code analysis. The library provides a unified interface for integrating outputs from various analysis tools and preparing them for effective use by CodeLLMs. Codellm-devkit aims to enable the development and experimentation of robust analysis pipelines that combine traditional program analysis tools and CodeLLMs, reducing friction in multi-language code analysis and ensuring compatibility across different tools and LLM platforms. It is designed to seamlessly integrate with popular analysis tools like WALA, Tree-sitter, LLVM, and CodeQL, acting as a crucial intermediary layer for efficient communication between these tools and CodeLLMs. The project is continuously evolving to include new tools and frameworks, maintaining its versatility for code analysis and LLM integration.

Woodpecker is a tool designed to correct hallucinations in Multimodal Large Language Models (MLLMs) by introducing a training-free method that picks out and corrects inconsistencies between generated text and image content. It consists of five stages: key concept extraction, question formulation, visual knowledge validation, visual claim generation, and hallucination correction. Woodpecker can be easily integrated with different MLLMs and provides interpretable results by accessing intermediate outputs of the stages. The tool has shown significant improvements in accuracy over baseline models like MiniGPT-4 and mPLUG-Owl.

Atropos is a robust and scalable framework for Reinforcement Learning Environments with Large Language Models (LLMs). It provides a flexible platform to accelerate LLM-based RL research across diverse interactive settings. Atropos supports multi-turn and asynchronous RL interactions, integrates with various inference APIs, offers a standardized training interface for experimenting with different RL algorithms, and allows for easy scalability by launching more environment instances. The framework manages diverse environment types concurrently for heterogeneous, multi-modal training.

This repository contains the code for developing a large language model (LLM) reasoning model. The book 'Build a Reasoning Model (From Scratch)' provides a hands-on approach to understanding and implementing reasoning capabilities in LLMs. It guides users through creating a small but functional reasoning model, mirroring approaches used in large-scale models like DeepSeek R1 and GPT-5 Thinking. The code includes methods for loading weights of pretrained models.

AgentCPM is a series of open-source LLM agents jointly developed by THUNLP, Renmin University of China, ModelBest, and the OpenBMB community. It addresses challenges faced by agents in real-world applications such as limited long-horizon capability, autonomy, and generalization. The team focuses on building deep research capabilities for agents, releasing AgentCPM-Explore, a deep-search LLM agent, and AgentCPM-Report, a deep-research LLM agent. AgentCPM-Explore is the first open-source agent model with 4B parameters to appear on widely used long-horizon agent benchmarks. AgentCPM-Report is built on the 8B-parameter base model MiniCPM4.1, autonomously generating long-form reports with extreme performance and minimal footprint, designed for high-privacy scenarios with offline and agile local deployment.

QANTA is a system and dataset for question answering tasks. It provides a script to download datasets, preprocesses questions, and matches them with Wikipedia pages. The system includes various datasets, training, dev, and test data in JSON and SQLite formats. Dependencies include Python 3.6, `click`, and NLTK models. Elastic Search 5.6 is needed for the Guesser component. Configuration is managed through environment variables and YAML files. QANTA supports multiple guesser implementations that can be enabled/disabled. Running QANTA involves using `cli.py` and Luigi pipelines. The system accesses raw Wikipedia dumps for data processing. The QANTA ID numbering scheme categorizes datasets based on events and competitions.

AI-TOD is a dataset for tiny object detection in aerial images, containing 700,621 object instances across 28,036 images. Objects in AI-TOD are smaller with a mean size of 12.8 pixels compared to other aerial image datasets. To use AI-TOD, download xView training set and AI-TOD_wo_xview, then generate the complete dataset using the provided synthesis tool. The dataset is publicly available for academic and research purposes under CC BY-NC-SA 4.0 license.

The HuggingFace Model Downloader is a utility tool for downloading models and datasets from the HuggingFace website. It offers multithreaded downloading for LFS files and ensures the integrity of downloaded models with SHA256 checksum verification. The tool provides features such as nested file downloading, filter downloads for specific LFS model files, support for HuggingFace Access Token, and configuration file support. It can be used as a library or a single binary for easy model downloading and inference in projects.

Towards Generalizable Vision-Language Robotic Manipulation: A Benchmark and LLM-guided 3D Policy is a research project focusing on addressing the challenge of generalizing language-conditioned robotic policies to new tasks. The project introduces GemBench, a benchmark to evaluate the generalization capabilities of vision-language robotic manipulation policies. It also presents the 3D-LOTUS approach, which leverages rich 3D information for action prediction conditioned on language. Additionally, the project introduces 3D-LOTUS++, a framework that integrates 3D-LOTUS's motion planning capabilities with the task planning capabilities of LLMs and the object grounding accuracy of VLMs to achieve state-of-the-art performance on novel tasks in robotic manipulation.

LeRobot is a state-of-the-art AI library for real-world robotics in PyTorch. It aims to provide models, datasets, and tools to lower the barrier to entry to robotics, focusing on imitation learning and reinforcement learning. LeRobot offers pretrained models, datasets with human-collected demonstrations, and simulation environments. It plans to support real-world robotics on affordable and capable robots. The library hosts pretrained models and datasets on the Hugging Face community page.

Spandrel is a library for loading and running pre-trained PyTorch models. It automatically detects the model architecture and hyperparameters from model files, and provides a unified interface for running models.

Open-DocLLM is an open-source project that addresses data extraction and processing challenges using OCR and LLM technologies. It consists of two main layers: OCR for reading document content and LLM for extracting specific content in a structured manner. The project offers a larger context window size compared to JP Morgan's DocLLM and integrates tools like Tesseract OCR and Mistral for efficient data analysis. Users can run the models on-premises using LLM studio or Ollama, and the project includes a FastAPI app for testing purposes.

Pipeline is a Python library designed for constructing computational flows for AI/ML models. It supports both development and production environments, offering capabilities for inference, training, and finetuning. The library serves as an interface to Mystic, enabling the execution of pipelines at scale and on enterprise GPUs. Users can also utilize this SDK with Pipeline Core on a private hosted cluster. The syntax for defining AI/ML pipelines is reminiscent of sessions in Tensorflow v1 and Flows in Prefect.

Autonomous agents are designed to achieve specific objectives through self-guided instructions. With the emergence and growth of large language models (LLMs), there is a growing trend in utilizing LLMs as fundamental controllers for these autonomous agents. This repository conducts a comprehensive survey study on the construction, application, and evaluation of LLM-based autonomous agents. It explores essential components of AI agents, application domains in natural sciences, social sciences, and engineering, and evaluation strategies. The survey aims to be a resource for researchers and practitioners in this rapidly evolving field.

AI Product Home is a repository dedicated to collecting various AI commercial or open-source products. It provides assistance in submitting issues, self-recommendation, correcting resources, and more. The repository also features AI tools like Build Naidia, Autopod, Rytr, Mubert, and a virtual town driven by AI. It includes sections for AI models, chat dialogues, AI assistants, code assistance, artistic creation, content creation, and more. The repository covers a wide range of AI-related tools and resources for users interested in AI products and services.

AI-Catalog is a curated list of AI tools, platforms, and resources across various domains. It serves as a comprehensive repository for users to discover and explore a wide range of AI applications. The catalog includes tools for tasks such as text-to-image generation, summarization, prompt generation, writing assistance, code assistance, developer tools, low code/no code tools, audio editing, video generation, 3D modeling, search engines, chatbots, email assistants, fun tools, gaming, music generation, presentation tools, website builders, education assistants, autonomous AI agents, photo editing, AI extensions, deep face/deep fake detection, text-to-speech, startup tools, SQL-related AI tools, education tools, and text-to-video conversion.

A curated list of open source repositories for AI Engineers. The repository provides a comprehensive collection of tools and frameworks for various AI-related tasks such as AI Gateway, AI Workload Manager, Copilot Development, Dataset Engineering, Evaluation, Fine Tuning, Function Calling, Graph RAG, Guardrails, Local Model Inference, LLM Agent Framework, Model Serving, Observability, Pre Training, Prompt Engineering, RAG Framework, Security, Structured Extraction, Structured Generation, Vector DB, and Voice Agent.

The AI Bootcamp is a comprehensive training program focusing on real-world applications to equip individuals with the skills and knowledge needed to excel as AI engineers. The bootcamp covers topics such as Real-World PyTorch, Machine Learning Projects, Fine-tuning Tiny LLM, Deployment of LLM to Production, AI Agents with GPT-4 Turbo, CrewAI, Llama 3, and more. Participants will learn foundational skills in Python for AI, ML Pipelines, Large Language Models (LLMs), AI Agents, and work on projects like RagBase for private document chat.

EasyAi is a lightweight, beginner-friendly Java artificial intelligence algorithm framework. It can be seamlessly integrated into Java projects with Maven, requiring no additional environment configuration or dependencies. The framework provides pre-packaged modules for image object detection and AI customer service, as well as various low-level algorithm tools for deep learning, machine learning, reinforcement learning, heuristic learning, and matrix operations. Developers can easily develop custom micro-models tailored to their business needs.

Awesome AI Newsletters is a curated list of AI-related newsletters that provide the latest news, trends, tools, and insights in the field of Artificial Intelligence. It includes a variety of newsletters covering general AI news, prompts for marketing and productivity, AI job opportunities, and newsletters tailored for professionals in the AI industry. Whether you are a beginner looking to stay updated on AI advancements or a professional seeking to enhance your knowledge and skills, this repository offers a collection of valuable resources to help you navigate the world of AI.

Reflection-Tuning is a project focused on improving the quality of instruction-tuning data through a reflection-based method. It introduces Selective Reflection-Tuning, where the student model can decide whether to accept the improvements made by the teacher model. The project aims to generate high-quality instruction-response pairs by defining specific criteria for the oracle model to follow and respond to. It also evaluates the efficacy and relevance of instruction-response pairs using the r-IFD metric. The project provides code for reflection and selection processes, along with data and model weights for both V1 and V2 methods.